Crankshaft conveying and framing beat control method based on multi-station cooperation

Abstract

The application discloses a crankshaft conveying and framing beat control method based on multi-station cooperation, relates to the technical field of mechanical manufacturing automation control, and comprises the following steps: collecting the action time, signal arrival time and stay duration of each station, establishing a unified time axis, marking the peak value and valley value of each station action curve, and generating a beat phase band for representing the whole line time rhythm; according to the beat phase band, the starting point and ending point of each station action are aligned one by one, the abutting area and idle area between adjacent stations are identified, a delay fingerprint list is generated for recording the time sequence deviation characteristics between stations. The application realizes multi-station time sequence coordination through the unified time axis and the beat phase band, dynamically adjusts the station rhythm by using the delay fingerprint, the wrong phase index and the beat slip list, eliminates the beat conflict and oscillation through double-track ordering and reverse phase breathing window, reduces the beat error by 60%, the synchronization accuracy reaches the millisecond level, and the production stability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical manufacturing automation control, in particular to a crankshaft conveying and framing beat control method based on multi-station cooperation. BACKGROUND

[0002] The crankshaft conveying and framing beat control based on multi-station cooperation refers to the beat control of the operation rhythm of multiple stations such as material moving, angle correction, pneumatic measurement, visual detection, classification framing, and empty frame circulating feeding in the crankshaft automatic detection and boxing equipment, so as to realize the beat coordination control of the whole line operation. The method takes the beat control system as the core, matches the action time, detection period, and conveying rhythm of each station in time sequence, so that the crankshaft keeps continuous circulation without waiting and stagnation from conveying to framing. The system dynamically adjusts the conveying rhythm and framing instruction by collecting the state signals of each station in real time, so as to ensure the accurate synchronization of NG and OK crankshafts, material frame switching, and stacking actions, so as to realize the cooperation and balance between high-precision detection and high-efficiency framing, and significantly improve the automation degree and beat stability of the production line.

[0003] The prior art has the following disadvantages:

[0004] In the prior art, the multi-station cooperative conveying and framing system generally adopts fixed beat and linear feedback mechanism for control. When the action of any station is delayed or the detection signal is offset, the system usually recovers the beat synchronization through adaptive path re-planning. However, under the condition of high-speed beat operation, if the transmission delay of the feedback signal exists in microseconds, and the delay time is just offset with the beat adjustment period, the control logic will appear phase offset superposition, resulting in continuous misplacement of beat correction command and actual state feedback. This misplacement is repeatedly accumulated in the control loop, which is easy to form closed loop oscillation, so that the program enters the continuous correction state and cannot converge, finally causing the action conflict of the station, the disorder of the conveying path, and even the shutdown of the whole line.

[0005] The above information disclosed in the background section is only used to strengthen the understanding of the background of the present disclosure, so it can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0006] The purpose of the present application is to provide a crankshaft conveying and framing beat control method based on multi-station cooperation to solve the problems in the background.

[0007] In order to achieve the above purpose, the present application provides the following technical scheme: a crankshaft conveying and framing beat control method based on multi-station cooperation, comprising the following steps:

[0008] Collect the action time of each station, the arrival time of signals and the stay duration, establish a unified time axis, mark the peak and valley of each station action curve, and generate a beat phase band, which is used to represent the whole line time rhythm;

[0009] According to the beat phase band, align the starting point and ending point of each station action one by one, identify the abutting area and the empty area between adjacent stations, generate a delay fingerprint list, and record the time sequence deviation characteristics between stations;

[0010] According to the delay fingerprint list, set an avoidance window for each station, insert a fixed micro gap before the abutting area, form a phase shift index list, and establish a conflict-free distribution of action time;

[0011] According to the phase shift index list, rearrange the action sequence of the station, apply a forward shift to the action-intensive station, and apply a backward shift to the action-lagging station, generate a beat shift list, and balance the station beat;

[0012] According to the beat shift list, establish a signal distribution gate, directly output the fast response instruction, and input the response delay instruction into the buffer band, generate a double-track command list, and distinguish the signal transmission path;

[0013] According to the double-track command list, establish an inverse phase breathing window at the end of each beat cycle, first perform a short and tight operation, and then perform a slow and loose operation, to eliminate beat conflict and oscillation, and write the correction result back to the beat phase band.

[0014] Preferably, the beat phase band generation step is as follows:

[0015] Collect the action time, signal arrival time and action stay duration of each station, and establish a unified time axis with the whole line initialization as zero point;

[0016] Draw the action line segment and signal arrival position of each station on the unified time axis, and mark the action duration and stay time;

[0017] Calibrate the peak and valley of each station action line segment on the time axis, and display the time overlap and empty interval with color distinction;

[0018] According to the peak and valley distribution results and the time overlap ratio, construct the beat phase band, which is used for subsequent beat rearrangement, phase shift avoidance and beat shift.

[0019] Preferably, the delay fingerprint list generation step is as follows:

[0020] Extract the action start time and action end time of each station on the unified time axis in the beat phase band;

[0021] Comparing the time of the preceding station and the time of the following station in each cycle, the time overlap area and the time gap area are identified;

[0022] According to the overlap length or the gap length, the delay fingerprint list is generated, and the time overlap length, the time gap length, the action start offset value and the action end offset value are recorded;

[0023] The data in the delay fingerprint list is classified and filed, and the offset area and the gap area are divided according to the length range.

[0024] Preferably, the process of forming the phase error index list is as follows:

[0025] According to the delay fingerprint list, the time overlapping station pair is identified, and the action start time of the later station is delayed by setting an avoidance window;

[0026] A micro gap with a length greater than the time overlap length is inserted in the avoidance window, and the adjusted action start time and the action end time are recorded;

[0027] The original start time, the micro gap length, the adjusted time and the cycle number are recorded as the phase error index list;

[0028] The phase error index list is checked to ensure that the time sequence is reasonable, no new overlap conflict is caused and the upper limit of the cycle is not exceeded.

[0029] Preferably, the process of generating the cycle shift list is as follows:

[0030] The adjusted action start time and the action end time of each station in the phase error index list are extracted, and the action density of each cycle is calculated;

[0031] The forward shift amount is applied to the station in the action dense section, and the action time section is adjusted again;

[0032] The backward shift amount is applied to the station in the action sparse section, and the remaining space of the cycle is evaluated;

[0033] All the action adjustment information after the forward shift and the backward shift is arranged as the cycle shift list, and the shift time amount and the corresponding cycle number are recorded.

[0034] Preferably, the setting of the forward shift amount and the backward shift amount is based on the action density level, the forward shift amount is controlled to not cause time overlap in the action dense section, the backward shift amount is controlled to be within the remaining time range of the cycle, and a response buffer time is reserved after each adjustment to absorb the instruction transmission delay.

[0035] Preferably, the process of generating the double-track starting list is as follows:

[0036] extracting the action start time of each station in the beat slip list and calculating the average response time and the maximum offset time of the control instruction;

[0037] dividing the control instruction into fast response instruction and response delay instruction according to the response time;

[0038] setting a direct output path for the fast response instruction and a path containing a buffer zone for the response delay instruction;

[0039] setting the buffer zone residence duration and calculating the advance sending time point according to the instruction target time;

[0040] generating a double-track issuing list by summarizing all the control information and performing structure consistency and timing conflict checking.

[0041] Preferably, an inverse phase breathing window is established at the end of each beat cycle according to the double-track issuing list, a short tightening operation and a slow loosening operation are performed, and the correction result is written back to the beat phase band as follows:

[0042] extracting the action end time of each station in the double-track issuing list in each beat cycle and performing difference analysis with the cycle end time to identify the adjustable time section at the end of the cycle;

[0043] setting an inverse phase breathing window in the identified time section and dividing the short tightening zone and the slow loosening zone;

[0044] adjusting the station with later action end time forward in the short tightening zone and recalculating the action rhythm;

[0045] according to the action fluctuation, delaying the end time of part of the stations in the slow loosening zone and keeping the time clean zone;

[0046] writing the tightening and loosening time adjustment data back to the beat phase band and performing convergence and stability verification.

[0047] In the above technical solutions, the technical effects and advantages provided by the present application are:

[0048] The application realizes the overall coordination and real-time correction of the multi-station action rhythm by establishing a unified time axis and beat phase band, and combining the delay fingerprint list and the out-of-phase index list to accurately identify and dynamically avoid the time overlap, empty stop and delay between the multi-stations. The beat slip list is used to adjust the forward and backward movement of the station action sequence, so that the whole line rhythm tends to be balanced, and local rhythm congestion is avoided. At the same time, the double-track starting list is used to manage the fast response instruction and the delay instruction in separate tracks, eliminating the execution deviation caused by signal interference and instruction stacking. Finally, the inverse phase breathing window is set at the end of each beat cycle, and the self-adjusting process of short tightening and slow widening is used to actively eliminate the beat misalignment and closed-loop oscillation, so as to realize the dynamic convergence and continuous stable operation of the whole line rhythm. Compared with the control mode of the prior art which relies on fixed beat and linear feedback mechanism, the beat error accumulation of the application is reduced by more than 60%, the multi-station synchronization accuracy is improved to the millisecond level, the automation level, the beat stability and the equipment operation rate of the production line are significantly improved, and the problem of multi-station coordination system instability under high-speed beat condition is effectively solved. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only represent some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0050] Figure 1 The method flowchart of the crankshaft conveying and framing beat control method based on multi-station cooperation of the present application. DETAILED DESCRIPTION

[0051] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these example implementations are provided so that this disclosure will be thorough and complete, and will fully convey the inventive aspects to those skilled in the art.

[0052] The present application provides a crankshaft conveying and framing beat control method based on multi-station cooperation as shown in Figure 1 The method flowchart of the crankshaft conveying and framing beat control method based on multi-station cooperation of the present application.

[0053] Collect the action time, signal arrival time and stay duration of each station, establish a unified time axis, mark the peak and valley of each station action curve, and generate a beat phase band to represent the whole line time rhythm;

[0054] To realize the beat control of multi-station collaborative operation in the process of crankshaft conveying and framing, it is necessary to establish a unified time axis of the whole line and to clarify the action rules and signal behavior of each station. Therefore, the action time, signal arrival time and action dwell time of each station must be accurately collected and processed in sequence to form a beat phase band. The detailed implementation steps are as follows:

[0055] For each station involved in the beat coordination of the whole conveying and framing production line, perform data collection tasks one by one. Take a production line with six key stations as an example, which are material moving station, angle correction station, pneumatic measurement station, visual inspection station, classification and framing station, and empty frame circulating feeding station. Install signal triggers at the main execution parts of each station to detect the start time of action initiation; install position sensors at the end nodes of each action to mark the completion time of action; set time recording nodes in the signal path to accurately record the time used by the signal from the trigger source to the next level of response mechanism. Take the angle correction station as an example, it is found that the total time of one action from initiation to completion is 0.76 seconds, the signal delay is 0.06 seconds, and the action dwell time is 0.41 seconds. Take the visual inspection station as an example, the total action time of this station is 0.93 seconds, the signal transmission time is 0.03 seconds, and the dwell time is 0.58 seconds. Organize the above time data in sequence to ensure that each station collects three types of key time: action start time, action completion time, and signal transmission delay, forming a basic time data set.

[0056] Map the above time data to a common time axis using a unified reference point. This time axis initializes the whole line to zero, and sets the time length of each production beat complete operation as a cycle boundary, for example, 3.5 seconds. Take this time axis as the horizontal coordinate, draw the action period of each station as a continuous line segment, mark the signal arrival time as a vertical pointer line, and identify the action duration and dwell time on the upper and lower sides of the time line respectively. For example, at the start point of the time axis 2.1 seconds, the material moving station starts to initiate, with a duration of 0.42 seconds, and the signal arrival point appears at 2.13 seconds; at 2.2 seconds, the visual inspection station signal triggers, with a duration of 0.93 seconds, a signal transmission of 0.03 seconds, and a signal response point at 2.23 seconds. By distributing and marking these specific data, not only can we observe whether there is time overlap between the actions of each station, but also we can further infer whether the signal response has sufficient buffer time, providing accurate basis for subsequent timing judgment.

[0057] After establishing the unified time axis, curve analysis is performed on each work station action line segment on the time axis to clearly mark the peak and valley. The peak is defined as the highest value position of the action duration in the history record of the work station, and the valley is the shortest point of the gap time between two actions. Taking the angle correction work station as an example, the average action time is 0.52 seconds, and in a certain cycle, the action time reaches 0.83 seconds, which is the peak point of the action; in the empty frame cycle feeding work station, only 0.13 seconds is separated between two adjacent actions, and this time period is marked as the valley area. In order to ensure the accuracy of data analysis, 5 groups of continuous beat data are compared and sampled to exclude occasional abnormalities. The peak and valley values of each work station are marked with red and blue dots on the unified time axis to facilitate the identification of high conflict areas and time overlap dense segments.

[0058] According to the peak and valley distribution results, the time coverage between adjacent work station actions is analyzed on the unified time axis, and according to the time overlap ratio and time length cumulative distribution, it is divided into multiple beat phase intervals. Specifically, color coding is used for marking: areas with time overlap of more than 0.25 seconds are marked in red, indicating potential phase conflict areas; areas with time gaps of more than 0.5 seconds are marked in green, indicating beat idle areas; continuous non-overlapping sections are marked in yellow, indicating beat safety buffer areas. For example, 0.33 seconds of time overlap is found between the detection work station and the frame loading work station in the sixth beat cycle, so this section is marked as a red phase conflict area; while 0.62 seconds of gap interval is observed between the feeding work station and the material moving work station, which is marked as a green beat gap area. Finally, these beat phase intervals are integrated to form a beat phase band, and the start point, end point, duration and corresponding work station number of each time interval are attached, which are stored in table form, providing accurate timing basis for subsequent beat rearrangement, phase avoidance and beat slip steps.

[0059] According to the beat phase band, the start point and end point of each work station action are aligned one by one to identify the abutting area and gap area between adjacent work stations, and a delay fingerprint list is generated to record the timing deviation characteristics between work stations;

[0060] In order to accurately identify the time conflict and gap period between multiple work stations in the crankshaft conveying and frame loading process, on the basis of constructing the beat phase band, the action timing alignment analysis is performed, and the abutting and gap areas are extracted one by one, and finally the delay fingerprint list for quantifying the control error characteristics is formed, the specific operation includes the following steps:

[0061] The motion time section of each station in the beat phase band on the unified time axis is extracted, and the motion start time and the motion end time are unfolded one by one, and matched with the corresponding beat period in the order of station number. In each period, the motion start time of the station is taken as the time reference point, and the motion end time of the immediately preceding station in the same beat is compared, and the time difference between the two is calculated. Taking the first period as an example, the angle correction station starts at 1.26 seconds, the visual detection station starts at 1.92 seconds, and the angle correction station ends at 2.04 seconds. Therefore, the start time of the visual detection station is 0.12 seconds earlier than the completion time of the previous station, which constitutes an explicit time overlap behavior. This process needs to analyze the time sequence relationship between all stations in each beat period to ensure that all possible conflicting station pairs are covered.

[0062] According to the alignment analysis result, the time relationship between all station pairs is divided into two categories: one is the time overlap area, and the other is the time gap area. For the time overlap judgment, if the result of subtracting the motion end time of the previous station from the motion start time of the next station is negative, it is determined that it is a time overlap area, and the overlap length is the absolute value of the negative value. For the time gap judgment, if the time difference is positive, it is determined that it is a time gap area, and the gap length is the positive value. Taking the second beat period as an example, the pneumatic measurement station ends at 1.50 seconds, and the visual detection station starts at 1.68 seconds, with a gap of 0.18 seconds, which constitutes a gap area. In the specific operation, the time sequence judgment of each station pair should be combined with the observation value of continuous multiple beat periods to avoid one-time fluctuation misjudgment of the time trend. It is usually recommended to take the time sequence of five consecutive beat periods as the minimum analysis unit for statistical summary.

[0063] After identifying all the overlaps and gaps of the stations, a delay fingerprint list is established. The construction of the list follows the arrangement method of taking the beat period as the horizontal axis and the station pair number as the vertical axis, and records the time overlap length, time gap length, motion start offset value, motion end offset value, etc. in each period. Taking the analysis data of the visual detection station and the frame loading station in five beat periods as an example, if the overlap length exceeds 0.15 seconds for more than three times, it is determined that it is a moderate conflict station pair, and is recorded as having continuous resistance characteristics. At the same time, the occurrence frequency, maximum value, minimum value and average value of various conflicts or gaps should also be recorded in the list to evaluate the overall stability of the time sequence fluctuation of the station pairs. The list can be manually established or derived from the time sequence identification process as a data table, and the key is the authenticity, continuity and refinement of data collection to ensure sufficient time resolution to capture small delays.

[0064] Each data in the delay fingerprint list is classified and archived, and graded according to the length range of the overlapping area or the blank area, and the work station pairs with significant time conflict characteristics are specially marked. The division standard can be set as follows: the overlapping length below 0.05 seconds is a light resistance area, the overlapping length between 0.05 seconds and 0.15 seconds is a moderate resistance area, and the overlapping length above 0.15 seconds is a heavy resistance area; the blank length below 0.10 seconds is a short-time blank area, and the blank length above 0.10 seconds is a long-time blank area. After classification, a forced avoidance strategy can be considered for the heavy resistance area, and a buffer correction action can be considered embedded for the long-time blank area as a parameter input source for subsequent phase error scheduling and slip processing.

[0065] An avoidance window is set for each work station according to the delay fingerprint list, a fixed micro gap is inserted before the resistance area to form a phase error index list for establishing a conflict-free distribution of action time;

[0066] To avoid the execution conflict caused by the time overlap between multi-station actions, an avoidance time is introduced for the later work station based on the identification of the resistance area in the delay fingerprint list, and a phase error index list is constructed by inserting a specific micro gap to realize the time decoupling of the action sequence, which includes the following detailed steps:

[0067] For the work station pairs marked in the delay fingerprint list with overlapping length above 0.08 seconds, the action start time and end time of each work station are read one by one, and grouped according to each beat cycle. Taking the second beat cycle as an example, the angle correction work station starts at 1.32 seconds and ends at 2.05 seconds; the vision detection work station starts at 1.98 seconds in this cycle, and there is a time overlap of 0.07 seconds. Although the overlap length is slightly lower than the warning value, combined with the start time of the subsequent frame work station of 2.84 seconds, the interval time is not enough to form a stable buffer, so this overlap is still included in the avoidance adjustment category. The identified work station pairs should not be merged by the average, but should be analyzed independently cycle by cycle to ensure that all incidental conflicts are handled.

[0068] An avoidance window is set for each group of work station pairs with time overlap, and the avoidance window is inserted in the form of a micro gap before the action start time of the later work station, and the length needs to be greater than the detected overlap length. Taking the material moving work station and the vision detection work station as an example, it is found that the overlap length is 0.11 seconds in the fourth cycle, in order to avoid the phase shift caused by error accumulation, the micro gap is set to 0.15 seconds, i.e. the original start time of the vision detection work station is delayed from 2.31 seconds to 2.46 seconds. The length of this micro gap should not be less than 0.12 seconds, nor more than 0.18 seconds, in order to ensure the scheduling flexibility and the consistency of the beat rhythm. At the same time, 0.02 seconds of time should be reserved as signal response lag margin to avoid compensation failure caused by instruction transmission time fluctuation.

[0069] After the avoidance window is inserted, the action start time and end time of the post-occlusion station are recalculated, and the adjusted time information is recorded to form the misphasing index list. The list content should include the original action start time, the micro-gap length, the adjusted action start time, the adjusted action end time, the station number, the cycle number, and the conflict source. Taking the classified frame mounting station as an example, if its original action time period is 2.84-3.52 seconds, and the start time is changed to 2.94 seconds after the avoidance window adjustment, then its action end time is delayed to 3.62 seconds, and the delay time is recorded as 0.10 seconds. After all the records are summarized, the misphasing index list is arranged in the order of cycle period, and sorted by station number from small to large. Such an index table will provide high-precision reference for subsequent action rearrangement and slip adjustment.

[0070] The integrity and feasibility of the misphasing index list are checked to ensure that the adjusted action start and end times do not exceed the upper limit of the cycle period, and do not form new overlapping risks with other non-conflict stations. If a new conflict occurs in the third cycle due to the forward and backward misplacement, for example, the interval between the adjusted visual inspection station start time 2.46 seconds and the new frame mounting station start time 2.94 seconds is less than 0.06 seconds, then the micro-gap needs to be re-distributed, or a reserved buffer section needs to be introduced at the upstream station. At the same time, it should be checked whether each adjustment action makes its end time exceed the cycle end point, for example, when the cycle period is limited to 3.60 seconds, any action cannot be extended beyond that time point. Through the above verification method, the misphasing index list will have the three basic characteristics of clear action time sequence, reasonable micro-gap insertion, and complete overlap removal, significantly improving the timing stability of multi-station action coordination.

[0071] According to the misphasing index list, the station action sequence is rearranged, the forward movement is applied to the action-intensive station, and the backward movement is applied to the action-lagging station to generate a cycle slip list for balancing the station cycle;

[0072] After the misphasing index list has been constructed and the micro-gap has been inserted for adjustment, the time cycle distribution of the entire line needs to be optimized to avoid the phenomenon of too tight local cycle or too long empty area. To achieve the running state of action balance and rhythm coordination, the action start time and action end time recorded in the misphasing index list should be used to identify the action-intensive and action-sparse areas within the cycle, and the action timing sequence of the station is rearranged as a whole through forward or backward movement of the action start time, and finally a cycle slip list is generated, including the following steps:

[0073] The adjusted start time and end time of each station in the misphasing index list are extracted, and the number of station action overlaps in unit time in each beat cycle is calculated. Taking the fourth beat cycle as an example, if there are three station actions of material moving, pneumatic measurement and visual inspection overlapping in the time period of 2.40 seconds to 2.90 seconds, and more than 3 of the total 6 stations are covered, it can be determined that this section is an action-intensive area. Conversely, if only one station (such as the classification and frame packing station) is in an active state in the time period of 3.00 seconds to 3.50 seconds, and there is no other station action overlapping in the time period before and after it, then this section is identified as an action-sparse area. In the determination process, sampling or mean estimation is not used, but each 0.1 second time period in each beat cycle is counted point by point to ensure the integrity and continuity of the density identification.

[0074] According to the density analysis result, the station action in the action-intensive section is moved forward. The forward movement should follow the three principles of time non-overlapping, sequence non-reversing and response non-conflicting. Taking the original action start time of the material moving station in the fourth cycle as 2.43 seconds and the end time as 2.84 seconds as an example, if there is 0.31 seconds of overlap with the visual inspection station in this time period, the action start time of the station is moved forward to 2.28 seconds, and the end time is simultaneously moved forward to 2.69 seconds, so that it is separated from the overlapping section with other station actions. The size of the forward movement is determined according to the density level, and is generally controlled between 0.10 seconds and 0.20 seconds to avoid new conflicts or signal response mismatches caused by excessive forward movement. At the same time, a response buffer segment of no less than 0.04 seconds should be reserved to absorb the delay that may occur between the issuance of instructions and the start of the machine.

[0075] For the station action in the action-sparse section, a backward movement is applied to fully utilize the spare beat space and achieve balanced distribution of the whole line rhythm. Taking the classification and frame packing station as an example, if its original start time is 3.01 seconds and the end time is 3.55 seconds, and under the condition that the total length of the beat cycle is 3.60 seconds, there is a 0.05 second beat tail segment available for the station, and there is no overlap with other stations in the front section of the action, the action is moved backward by 0.10 seconds as a whole, and the start time is changed to 3.11 seconds and the end time is changed to 3.65 seconds. This backward movement operation accurately expands the use efficiency of the sparse area, not only avoids waste of beat resources, but also releases more safe operation space for other station actions. In addition, it is also necessary to evaluate whether the remaining space in the current beat cycle is sufficient, if not, part of the backward action needs to be split to the front section of the next cycle for processing.

[0076] The rearranged results of all pre-shift and post-shift processing of station actions are collated and summarized as a beat slip list. The list content should include station number, original action start time, adjusted action start time, adjustment direction (pre-shift or post-shift), slip time, new action end time, and corresponding beat cycle number. For example, in the fifth beat cycle, the original start time of the visual inspection station is 1.92 seconds, which is adjusted to 1.78 seconds by pre-shift, the slip time is 0.14 seconds, and the corresponding new end time is 2.67 seconds. This record should be clearly marked as pre-shift adjustment. After the list is formed, it will be used as the basis for signal scheduling and beat breathing strategy timing input, ensuring that each station runs as closely as possible to the beat rhythm without conflict.

[0077] According to the beat slip list, a signal distribution gate is established, fast response instructions are directly output, and response delay instructions are input into the buffer band to generate a double-track issuing list for distinguishing signal transmission paths.

[0078] After completing the beat slip adjustment of the station, in order to ensure that the output timing of the control instruction completely matches the actual action rhythm of the station, a signal distribution structure for different response characteristics needs to be established. The control instructions are divided into fast output and buffer output according to the response speed difference, and are processed through double-track paths respectively, thereby generating a double-track issuing list to realize reasonable shunting and synchronous control of the signal path. The specific steps are as follows:

[0079] Extract the action start time of all stations in the beat slip list, and combine the historical response time of each control instruction to calculate the average response time and maximum deviation time required between the instruction from the main control end to the target station action start. In the statistical process, the actual running data is used to independently evaluate the specific action of each station. For example, the average time from issuing to action start of the rotation instruction of the angle correction station is 0.022 seconds, with a maximum fluctuation of 0.004 seconds; while the response time of the push instruction of the empty frame loading station is 0.066 seconds, with a maximum fluctuation of 0.014 seconds. According to this evaluation standard, control instructions with a response time of not more than 0.030 seconds and a fluctuation of not more than 0.005 seconds are classified as fast response instructions, and instructions with a response time of more than 0.030 seconds or a fluctuation of more than 0.005 seconds are classified as response delay instructions. This classification is based on real execution characteristics, avoiding the problem of rough division according to station type in traditional control.

[0080] According to the instruction response classification results, different issuing paths are set for fast response instructions and response delay instructions. Fast response instructions adopt a direct output method, and at the action start time point marked in the beat slip list, the control issuing end directly outputs a signal, which does not need to be delayed and immediately reaches the station for execution. For example, in the sixth beat cycle, the target start time of the image acquisition instruction of the visual detection station is 2.34 seconds, and the control signal will be issued at 2.34 seconds. After fast transmission, the action is triggered. The response delay instruction inserts a buffer band in the transmission path, and the control signal will be issued in advance and transmitted to the execution end after staying in the buffer band for a period of time. For example, in the fifth beat cycle, the target start time of the action of the material moving station is 1.87 seconds, and the average response time of the control instruction is 0.062 seconds. The control end will issue the signal in advance at 1.808 seconds, and the signal will reach the execution end at 1.87 seconds after staying in the buffer band for 0.062 seconds, ensuring the accurate alignment of the action time point.

[0081] For all response delay instructions, the residence time of the buffer band is set according to the response characteristics. The residence time is composed of the average response time and the redundancy protection time, which is generally not less than 0.008 seconds. For example, in the empty frame supply station, the average response time of the transmission instruction is 0.071 seconds, and the maximum deviation is 0.012 seconds. In order to prevent the instruction from being invalid due to advance or delay, the residence time of the buffer band is set to 0.083 seconds. The control signal will be injected into the buffer band according to this residence time and will be transmitted just before the target action time point. In the implementation process, it is necessary to ensure that each buffer path signal corresponds to only one control instruction to prevent overlapping residence from causing triggering errors. The accurate buffer band entry time point is determined by the beat slip list, and the exit time point needs to be completely consistent with the station action start time, with an error of not more than 0.005 seconds, to ensure the execution accuracy.

[0082] Based on all the set paths of the control instructions, a complete double-track issuing list is sorted and output. The list should include the following contents: station number, beat cycle number, control instruction number, target action name, target action start time, control instruction issuing time, response time, whether there is a buffer band, buffer band residence time, and instruction transmission path type. For example, in the seventh beat cycle, the control instruction number of the angle correction station is CMD013, the target action is spindle rotation start, the target start time is 2.15 seconds, the control signal is directly output at 2.15 seconds, and the path type is fast channel. In the same cycle, the target action of the classification frame loading station control instruction CMD028 is grabbing down, the target start time is 3.02 seconds, the instruction issuing time is 2.938 seconds, the buffer band residence time is 0.082 seconds, and the path type is a buffer channel. This list provides accurate basis for subsequent beat closed-loop control, signal phase correction, and dynamic adjustment.

[0083] The generated double-track issuing list is checked for structural consistency and timing conflict. First, ensure that all control instructions are included in the scheduling range, none are missed, and confirm that each instruction has been correctly classified and assigned a transmission path. Second, check if the buffer band setting time matches the control response time, confirm that the advance issuing point aligns with the actual action point of the station within the allowed range. Third, check the concentration of all fast instructions in the same cycle period to avoid mutual interference due to excessive signal quantity in the same time period, and adjust the issuing time of some fast instructions to 0.003 seconds before the action target point if necessary. Finally, perform timing simulation on the instruction distribution of all stations in the entire production line in the next 10 cycle periods to ensure that there is no abnormal situation such as cross triggering, lagging response or signal failure.

[0084] According to the double-track issuing list, an inverse-phase breathing window is established at the end of each cycle period, first performing a short tightening operation and then a slow relaxation operation to eliminate cycle conflicts and oscillations, and the correction results are written back to the cycle phase band;

[0085] After completing the arrangement and execution path allocation of the double-track issuing list, to avoid the accumulation of cycle errors at the cycle boundary, a time adjustment structure with compression and release capabilities must be built at the end of each cycle period. By setting an inverse-phase breathing window, the action rhythm is compressed and slowly released in an orderly manner, thereby eliminating local cycle conflicts and synchronously writing back to the cycle phase band. The specific steps include:

[0086] Based on the generated double-track issuing list, the action end time of all stations in each cycle period is extracted, and the difference between the theoretical end time of the current cycle and the action end time is analyzed to identify the remaining adjustable time segment at the end of the cycle. Taking the eighth cycle period as an example, the theoretical end time of this cycle is 3.60 seconds, the action end time of the transfer station in this cycle is 3.43 seconds, the angle correction station is 3.51 seconds, and the frame loading station is 3.58 seconds. There is a clear gap between the end of the time. After comparison, it is found that the frame loading station is only 0.02 seconds away from the cycle end, indicating that there is a risk of critical action backlog. Therefore, based on the latest end time of all stations, the inverse-phase breathing window is set back to the cycle boundary dynamic control section, and a border compressible time length of not less than 0.06 seconds is reserved.

[0087] Two functional periods are divided in the identified beat end window, the first functional period is set as a short tightening area, which is used for compression processing of workstations with dense action overlap and high delay risk. The specific method is to adjust the workstations with later action end time forward, and the compression amount is dynamically calculated according to the distance between it and the cycle end, which is generally controlled between 0.01 seconds and 0.03 seconds. For example, in the ninth cycle, the original end time of the classification and frame workstation is 3.57 seconds, which is only 0.03 seconds away from the cycle end, and can be compressed by 0.015 seconds forward, so that the action ends at 3.555 seconds, thereby avoiding the tail of the action entering the next cycle. The compression action needs to ensure that it does not cause the control command to trigger the mispositioning in advance, and it cannot be compressed to overlap with other workstations at the start time, and the execution rhythm of the action inside the workstation must be recalculated before and after compression to maintain the integrity of the physical execution of the action and the mechanical safety distance.

[0088] After the short tightening, the second functional period, i.e. the slow relaxation area, is entered, which is mainly used to release the execution buffer for workstations with large action time fluctuations. The slow relaxation operation does not delay all workstations equally, but sets a relaxation coefficient according to the action fluctuation of each workstation in the previous three cycles. For example, the angle correction workstation has a fluctuation range of 0.025 seconds in the action completion time in the fifth to seventh cycles, which belongs to the medium fluctuation range, so its end time can be delayed by 0.01 seconds in the eighth cycle, from the original end time of 3.46 seconds to 3.47 seconds. The relaxation processing should be carried out on the premise of not exceeding the boundary of the beat end, while ensuring that there is a 0.02 second time cleaning area before the start point of the next cycle, in order to prevent the start instruction of the next cycle from being disturbed by the tail of the previous cycle.

[0089] The time cleaning area refers to a time interval reserved after the end of each beat cycle and before the start of the next cycle, without any workstation action, control instruction triggering, and signal transmission delay accumulation. The role of this time section is to ensure that all actions and signals of the previous cycle are completely finished and emptied, thereby avoiding interference with the start control of the next cycle due to signal residue, action tail delay, or feedback lag. In other words, the time cleaning area is equivalent to a time isolation belt established between two adjacent beats, which is used to ensure the logical independence of the beat boundary and the purity of the signal environment.

[0090] In the implementation process, the length of the time cleaning area is determined according to the actual device response characteristics and signal transmission delay, and is generally set to be not less than 0.02 seconds. This section is located after the slow relaxation area at the end of the beat cycle and is the termination part of the reverse phase breathing window. Its core function is to provide a stable beat boundary for the control system, so that all instructions do not cross trigger or time sequence superimpose when the cycle switches, thereby ensuring the periodic continuity of the beat and the closed loop integrity of the control logic.

[0091] All the station action time change data generated by the short tightening and slow release are synchronized back to the beat phase tape. Each time node in the beat phase tape needs to be updated, including the action start point, end point, time period length, and time interval between adjacent stations. For example, if the transfer station's end time is adjusted from 3.40 seconds to 3.38 seconds, the end time item of the station in the phase tape needs to be updated, and the beat interval field between it and the next station needs to be recalculated from the original 0.08 seconds to 0.10 seconds. At the same time, mark the operation type for each adjustment operation, distinguish between forward compression or backward release, and record the adjustment amplitude and adjustment basis for subsequent period backtracking optimization strategy. Through dynamic backwriting, the beat phase tape is no longer a static reference structure, but a dynamic timing template that evolves in real time in response to execution feedback.

[0092] After completing the backwriting of the beat phase tape, the convergence verification and stability analysis of the entire reverse-phase breathing adjustment process are performed. The convergence verification needs to calculate the breathing window adjustment amplitude change trend in three consecutive beat cycles. If the maximum adjustment amplitude of each cycle shows a decreasing trend, and the tightening and release total time control is within 70% of the total length of the beat end, it is considered that the beat enters the stable fluctuation interval. The stability analysis focuses on evaluating whether new time conflicts, action overlaps, or instruction misplacement behaviors occur after the breathing window adjustment. If there are no new time conflicts in three cycles, the instruction output is stable, and the station response is consistent, it proves that the reverse-phase breathing window can effectively buffer the beat boundary interference and stabilize the rhythm structure.

[0093] The following takes the crankshaft automatic detection and frame assembly production line as an example to fully demonstrate the application process and benefits of the present application in real production environment. The production line includes six consecutive stations: material transfer, angle correction, pneumatic measurement, visual detection, classification and frame assembly, and empty frame circulation feeding. The production line aims to complete the detection and separation of crankshafts with stable beats, with a target beat of 3.6 seconds per piece, corresponding to a theoretical output of about 1000÷3.6≈278 pieces per hour of effective running time of 1000 seconds. In actual operation, the traditional fixed beat and linear feedback method is prone to microsecond-level signal delay and beat adjustment period offset under high-speed conditions, causing phase misplacement and closed-loop oscillation, and further causing local congestion, misclassification, and whole line shutdown.

[0094] The initial data of a typical production line is as follows. The average duration of the material moving action is 0.42 seconds, and the average signal transmission delay is 0.016 seconds; the average duration of the angle correction action is 0.58 seconds, and the signal delay is 0.021 seconds; the average duration of the pneumatic measurement action is 0.64 seconds, and the signal delay is 0.026 seconds; the average duration of the visual inspection action is 0.92 seconds, and the signal delay is 0.023 seconds; the average duration of the sorting and boxing action is 0.70 seconds, and the signal delay is 0.028 seconds; the average duration of the empty box circulation and feeding action is 0.55 seconds, and the signal delay is 0.030 seconds. When the beat is 3.6 seconds, 10 consecutive cycles are counted, and it can be seen that multiple adjacent stations overlap in time in the interval of 2.3 seconds to 2.9 seconds, and the typical overlapping length is 0.10 seconds to 0.18 seconds; the feedback signal has a peak delay of 0.040 seconds in some cycles, which cancels out the beat fine-tuning period of 0.040 seconds, causing the correction command of the previous cycle and the true position deviation of this cycle to continuously overlap in phase, resulting in action chain correction and output back-and-forth jitter. The actual output measured in the past 8 hours is only in the range of 202 to 214 pieces, with an average of 209 pieces, and the effective operation rate of the equipment is low, and the misclassification rate is higher than the target value.

[0095] After applying the present application, first, the beat phase band is constructed according to the unified time axis, and the action curve of each station and the signal arrival time are flattened by period. Taking a certain observation as an example, in the fourth cycle, the visual inspection starts at 1.84 seconds and lasts for 0.93 seconds, ending at 2.77 seconds; the sorting and boxing starts at 2.69 seconds and lasts for 0.71 seconds, and there is an overlap of 0.08 seconds. In the sixth cycle, the pneumatic measurement ends at 2.12 seconds, and the visual inspection starts at 1.98 seconds, with an overlap of 0.14 seconds. After comparing all stations two by two, the offset interval distribution is obtained, and the red section represents an overlap of more than 0.10 seconds, and the green section represents an idle period of more than 0.50 seconds. A delay fingerprint list is generated, for example, the visual inspection and sorting and boxing overlap 7 times in 10 cycles, of which 3 times exceed 0.12 seconds; the pneumatic measurement and visual inspection overlap 6 times in 10 cycles, with a maximum of 0.16 seconds; the material moving and angle correction have 4 idle periods in 10 cycles, with a maximum of 0.62 seconds. The delay fingerprint list provides a numerical basis for subsequent insertion avoidance and slip rearrangement.

[0096] Then insert fixed micro-gap in front of the area of resistance, form the index list of out of phase. For the 0.12 second overlapping station pair, set the avoidance window 0.15 seconds, and delay the start time of the later station by 0.15 seconds; for the 0.08 second overlapping station pair, set the avoidance window 0.11 seconds to absorb statistical fluctuations and signal jitter; for the repeatedly appearing severe resistance pair, preferentially handle the conflict near the first half of the cycle, because such conflicts will chain delay multiple subsequent actions. Take the fifth cycle as an example, the original start of visual detection is 2.02 seconds, which is delayed by 0.16 seconds to 2.18 seconds due to the 0.13 second overlap with the tail of pneumatic measurement; the original start of sorting and framing is 2.74 seconds, which is delayed by 0.12 seconds to 2.86 seconds due to the 0.09 second overlap with the tail of visual detection. All changes are recorded in the out of phase index list, and the reason, length and new start and end time of each adjustment are clearly recorded.

[0097] Then perform the slip rearrangement. Apply a forward shift to the action dense section and a backward shift to the action sparse section to generate the beat slip list. Take the fourth cycle as an example, the original 2.40-2.90 seconds of material moving, pneumatic measurement, and visual detection overlap, and the peak number of simultaneous online actions reaches 3. Move the material moving forward by 0.14 seconds, and the start and end times become 2.18-2.60 seconds; the visual detection remains 2.18-3.10 seconds; in the sparse section of 3.00-3.50 seconds, move the sorting and framing backward by 0.10 seconds, and the start and end times become 3.00-3.70 seconds. If the upper limit of the cycle is 3.60 seconds, the 0.10 second tail of the cycle will be tightened and widened by the breathing window at the tail to avoid cross-cycle tailing. After the slip is completed, the number of simultaneous online actions in the 2.40-2.90 second section decreases from 3 to 2, the dense peak is dispersed, and the beat peak and valley is more smooth.

[0098] With the beat slip list, enter the signal distribution link. According to the true response time, direct the fast response instructions to the direct path, and inject the slower response instructions into the buffer band in advance. Take angle correction as an example, the average response is 0.022 seconds, and the fluctuation is 0.004 seconds, which is determined to be fast, and the instruction can be directly issued according to the action start point. Take empty frame loading as an example, the average response is 0.071 seconds, and the fluctuation is 0.012 seconds, which needs to be injected into the buffer band 0.083 seconds before the target action time. In the seventh cycle, the target sorting and framing is executed at 3.05 seconds, and the control instruction is injected into the buffer at 2.967 seconds, and accurately triggered after 0.083 seconds of residence. The path, advance, and residence time of all instructions form a double-track issuing list to ensure that the time accuracy on the micro time layer reaches milliseconds.

[0099] Finally, the reverse breathing window is set at the end of the cycle. The window length is fixed at the end of the 0.20 second interval, first perform a short tightening, and then perform a slow release. The short tightening is used to compress the latest ending action forward by 0.01 to 0.03 seconds to avoid tail crossing; the slow release is used to release 0.01 to 0.02 seconds of buffer for the work station with larger fluctuations, so that the previous compression does not cause rebound oscillation. Take the eighth cycle as an example, the classified frame originally ends at 3.58 seconds, and is compressed by 0.015 seconds to 3.565 seconds; the feeding action is larger due to fluctuations, and is released by 0.012 seconds, and ends at 3.482 seconds from 3.47 seconds. All corrections are written back to the beat phase band, and the next cycle is matched according to the new phase band, and each work station enters operation with the new start and end relationship. After continuous observation for 3 cycles, the maximum correction amplitude decreases from 0.028 seconds to 0.010 seconds, and the beat gradually converges.

[0100] The comparison with the traditional method is reflected in multiple dimensions. In terms of productivity, the average output of the previous shift is 209 pieces in 8 hours, and after the application, the average output is increased to 258 pieces under the same personnel configuration and the same material supply conditions, and the single shift growth is about 23.4. In terms of beat stability, the peak value of simultaneous online actions in the last 20 cycles is reduced from 3 to a maximum of 2, and the length of the high-density interval is shortened from an average of 0.44 seconds per cycle to 0.17 seconds. In terms of misrouting, the same direction rate of visual detection of the frame is increased from 99.0 to 99.7, and the number of misrouted pieces is reduced from 2 pieces per shift to less than 1 piece per shift. In terms of stop events, the emergency stop triggered by closed-loop oscillation is reduced from 5 times per shift to less than 1 time per shift, and the average recovery time of a single emergency stop is reduced from 7 minutes to 2 minutes. The average unit beat is optimized from 3.60 seconds to 3.35 seconds, and the optimal beat in the stable period reaches 3.30 seconds. The first pass yield of qualified products is increased from 97.8 to 98.9. In terms of energy consumption, due to the reduction of waiting time and the inhibition of repeated actions, the energy consumption per hundred pieces is reduced by about 7.2. The above data comes from the statistical mean value of 3 consecutive days, 2 shifts per day, with a total sample size of more than 1500 pieces.

[0101] To more intuitively show the benefits, the following table compares the key indicators. The baseline is the measured average value of the traditional fixed beat and linear feedback method under the same production line, same material, same personnel and same environmental conditions; the improvement value is the stable period average value after completing the beat phase band closed-loop three rounds of iteration by applying the method of the present application.

[0102] Index item Conventional method actual measurement Invention method actual measurement Variation range Single shift output number 209 pieces 258 pieces +23.4 Average unit tact time 3.60 seconds 3.35 seconds −6.9 Stable period optimal tact time 3.50 seconds 3.30 seconds −5.7 Simultaneous online action peak value 3 stations 2 stations −33.3 High density interval average length 0.44 seconds 0.17 seconds −61.4 Misrouting rate 1.0 0.3 −70.0 Emergency stop frequency per shift 5 times 1 time −80.0 Single emergency stop average recovery 7 minutes 2 minutes −71.4 One-time pass rate 97.8 98.9 +1.1 Energy consumption per hundred pieces 100 base 92.8 base −7.2 99th percentile of instruction time error 0.020 seconds 0.008 seconds −60.0 Breathing window maximum correction 0.028 seconds 0.010 seconds −64.3

[0103] Through this example, it can be seen that the present application is not simply to extend or shorten a certain action, but to phase the station action time, signal arrival time, and stay duration on a unified time axis, and then use delay fingerprint list, avoidance window, out-of-phase index, slip rearrangement, double-track issuing, and reverse-phase breathing window to layer by layer coordinate, avoid phase cancellation and closed loop oscillation, resolve the beat conflict within the cycle, keep the production rhythm stable at high speed, and achieve reproducible improvement from multiple key indicators.

[0104] The present application quantitatively manages the data of each station action by establishing a unified time axis and beat phase band, and accurately identifies and dynamically avoids the time overlap, empty stop, and delay between multiple stations by combining delay fingerprint list and out-of-phase index list, achieving overall coordination and real-time correction of the rhythm of multiple station actions. Through the beat slip list, the sequence of station actions is adjusted forward and backward, making the rhythm of the whole line balanced and avoiding local rhythm congestion; at the same time, through the double-track issuing list, fast response instructions and delay instructions are managed in separate tracks, eliminating the execution deviation caused by signal interference and instruction stacking. Finally, a reverse-phase breathing window is set at the end of each beat cycle, using the self-adjusting process of short tightening and slow widening to actively eliminate beat misalignment and closed loop oscillation, achieving dynamic convergence and continuous stable operation of the whole line rhythm. Compared with the control method of the prior art which relies on fixed beat and linear feedback mechanism, the present application reduces the beat error accumulation by more than 60%, improves the multi-station synchronization accuracy to the millisecond level, significantly improves the automation level, beat stability, and equipment operation rate of the production line, and effectively solves the problem of multi-station coordination system instability under high-speed beat conditions.

[0105] The above only describes some exemplary embodiments of the present application by way of illustration, and it is needless to say that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present application. Therefore, the above figures and descriptions are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. A crankshaft conveying and framing beat control method based on multi-station cooperation, characterized in that, The method comprises the following steps: Collecting the action time of each station, the arrival time of signals and the stay duration, establishing a unified time axis, marking the peak and valley of each station action curve, and generating a beat phase belt for representing the whole line time rhythm; Aligning the starting point and ending point of each station action according to the beat phase belt, identifying the time overlap area and time empty area between adjacent stations, generating a delay fingerprint list for recording the time sequence deviation characteristics between stations; Setting an avoidance window for each station according to the delay fingerprint list, inserting a fixed micro gap before the overlap area to form a phase shift index list for establishing a conflict-free distribution of action time; Rearranging the action sequence of the station according to the phase shift index list, applying a forward shift to the action-intensive station and a backward shift to the action-lagging station to generate a beat shift list for balancing the station beat; According to the double-track order list, an inverse phase breathing window is established at the end of each beat cycle, and a short and brief tightening operation is performed before a slow and slow operation is performed to eliminate beat conflict and oscillation, and the correction result is written back to the beat phase belt. The beat phase belt generation step is as follows:

2. The multi-station cooperative based crankshaft delivery framing beat control method of claim 1, wherein, Collect the action time, signal arrival time and action stay duration of each station, and establish a unified time axis with the whole line initialization as zero point; Draw the action line segment and signal arrival position of each station on the unified time axis, and mark the action duration and stay time; The peak and valley of each station action line segment on the time axis are calibrated, and the time overlap and empty interval are displayed in color; According to the peak and valley distribution results and the time overlap ratio, a beat phase belt is constructed for subsequent steps of beat rearrangement, phase shift avoidance and beat shift. The delay fingerprint list generation step is as follows:

3. The multi-station cooperative based crankshaft delivery framing beat control method of claim 2, wherein, Extract the action start time and action end time of each station on the unified time axis in the beat phase belt; Compare the action time of the adjacent previous station and the subsequent station in each beat cycle to identify the time overlap area and time empty area; According to the overlap length or empty length, generate a delay fingerprint list and record the time overlap length, time empty length, action start offset value and action end offset value; Classify and archive the data in the delay fingerprint list, and divide the overlap area and empty area according to the length range. The phase shift index list formation process is as follows:

4. The multi-station cooperative based crankshaft delivery framing beat control method of claim 3, wherein, According to the delay fingerprint list, identify the time overlapping station pair, and set an avoidance window to delay the action start time of the late station; Insert a micro gap with a length greater than the time overlap length in the avoidance window, and record the adjusted action start time and action end time; Record the original start time, micro gap length, adjusted time and beat cycle number as the phase shift index list; Check the phase shift index list to ensure that the time sequence is reasonable, no new overlap conflict is caused, and the upper limit of the beat cycle is not exceeded. The beat shift list generation process is as follows:

5. The multi-station cooperative based crankshaft delivery framing beat control method of claim 4, wherein, Extract the adjusted action start time and action end time of each station in the phase shift index list, and calculate the action density in each beat cycle; ​ Apply forward shift to the stations in action dense section and adjust action time section; Apply backward shift to the stations in action sparse section and evaluate the remaining space of the beat cycle; Arrange all the action adjustment information after forward and backward shift into beat slip list and record the slip time amount and corresponding beat cycle number.

6. The multi-station cooperative based crankshaft delivery framing beat control method of claim 5, wherein, The setting of forward and backward shift is based on action density level, the forward shift is controlled within the action dense section without causing time overlap, the backward shift is controlled within the remaining time range of the beat cycle, and a response buffer time is reserved after each adjustment to absorb instruction transmission delay.

7. The multi-station cooperative based crankshaft delivery framing beat control method of claim 5, wherein, The double-track command list generation process is as follows: Extract the action start time of each station in the beat slip list and calculate the average response time and maximum offset time of the control instruction; Divide the control instruction into fast response instruction and response delay instruction according to the response time; Set a direct output path for fast response instruction and a path containing buffer band for response delay instruction; Set the buffer band residence time and calculate the advance issuance point according to the instruction target time; Compile all control information to generate double-track command list and perform structure consistency and timing conflict check.

8. The multi-station cooperative based crankshaft delivery framing beat control method of claim 7, wherein, According to the double-track command list, an inverse phase breathing window is established at the end of each beat cycle to perform short tightening operation and slow relaxation operation, and the modified results are written back to the beat phase band as follows: Extract the action end time of each station in the double-track command list within each beat cycle, and perform difference analysis with the cycle end time to identify the adjustable time section at the end of the cycle; Set the inverse phase breathing window in the identified time section and divide it into short tightening area and slow relaxation area; In the short tightening area, adjust the stations with later action end time forward and recalculate the action rhythm; In the slow relaxation area, according to the action fluctuation, the end time of some stations is delayed and the time cleaning area is maintained; Write the tightening and relaxation time adjustment data back to the beat phase band and perform convergence and stability verification.

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